Learning to grasp and extract affordances: the Integrated Learning of Grasps and Affordances (ILGA) model.

ABSTRACT: The activity of certain parietal neurons has been interpreted as encoding affordances (directly perceivable opportunities) for grasping. Separate computational models have been developed for infant grasp learning and affordance learning, but no single model has yet combined these processes in a neurobiologically plausible way. We present the Integrated Learning of Grasps and Affordances (ILGA) model that simultaneously learns grasp affordances from visual object features and motor parameters for planning grasps using trial-and-error reinforcement learning. As in the Infant Learning to Grasp Model, we model a stage of infant development prior to the onset of sophisticated visual processing of hand-object relations, but we assume that certain premotor neurons activate neural populations in p

SUBMITTER: Bonaiuto J 

PROVIDER: S-EPMC4656720 | biostudies-literature | 2015 Dec

REPOSITORIES: biostudies-literature